Releases: oubliss/BLISS-ardupilot
BLISSv1.6.8-Copter-4.4.4
==== Release notes ====
CopterSonde 3D Software Updates
Current Autopilot board: Pixhawk CubeOrange, CubeBlack (TBD)
Current ArduPilot code: ArduCopter 4.4.4
Current BLISS releases: https://github.com/oubliss/BLISS-ardupilot/releases
The following list shows code changes since the code release on 28-Mar-2023 (BLISSv1.6.7-Copter-4.1.5)
Release Candidate: BLISSv1.6.8-Copter-4.4.4
ArduPilot updates:
- Merge latest stable Copter-4.4.4
BLISS update:
- Parametrize temperature sensor coefficients
Full Changelog: BLISSv1.6.7-Copter-4.1.5...BLISSv1.6.8-Copter-4.4.4
BLISSv1.6.7-Copter-4.1.5
==== Release notes ====
CopterSonde 3D Software Updates
Current Autopilot board: Pixhawk CubeOrange, CubeBlack (TBD)
Current ArduPilot code: ArduCopter 4.1.5
Current BLISS releases: https://github.com/oucass/CASS-ardupilot/releases
The following list shows code changes since the code release on 27-Mar-2022 (BLISSv1.6.6-Copter-4.1.5)
Release Candidate: BLISSv1.6.7-Copter-4.1.5
Battery Management:
- Add electrical current failsafe (USR_MAX_CURR and USR_CURR_TOUT)
Mavlink messages:
- Display important failsafe parameters after creating waypoint mission
BLISSv1.6.6-Copter-4.1.5
==== Release notes ====
CopterSonde 3D Software Updates
Current Autopilot board: Pixhawk CubeOrange, CubeBlack (TBD)
Current ArduPilot code: ArduCopter 3.6.12. 4.0.7 and 4.1.0
Current BLISS releases: https://github.com/oucass/CASS-ardupilot/releases
The following list shows code changes since the code release on 08-Oct-2021 (BLISSv1.6.5-Copter-4.1.0)
Release Candidate: BLISSv1.6.6-Copter-4.1.5
ArduPilot:
- Updated main Ardupilot code to Copter-4.1.5
- Bug fix: ignore pilot yaw input above 20m in RTL/AUTO modes
Battery management:
- Readjusted batt management values to compensate for extra weight and removed unused print functions
VP Mission Auto-Generator:
- Added a warning message if the mission could not be cleared.
BLISSv1.6.5-Copter-4.1.0
Released by the Center for Autonomous Sensing and Sampling (CASS) of the University of Oklahoma
Head of Project:
Tom Galarneau
Main developer:
Antonio R. Segales
==== Release notes ====
CopterSonde 3D Software Updates
Current Autopilot board: Pixhawk CubeOrange, CubeBlack (TBD)
Current ArduPilot code: ArduCopter 3.6.12. 4.0.7 and 4.1.0
Current BLISS releases: https://github.com/oucass/CASS-ardupilot/releases
The following list shows code changes since the code release on 28-Feb-2021 (CASSv1.6.2-Copter-4.0.7)
Release Candidate: BLISSv1.6.5-Copter-4.1.0
Changes in the Copter-4.1 that directly affects BLISS custom code:
- Real-time motor RPM readings are now available.
- The current ESCs has the supported telemetry protocol (D-Shot Bidirectional).
Wind vane mode algorithm:
- Added a wind vane offset parameter to keep the drone heading at a desired angle with respect to the estimated wind direction.
- Wind vane logger function call was moved inside the main function loop so that the logging rate matches the sampling rate.
- Bug: Wind logger was skipping samples. Fix: Re-arranged code order.
CASS custom weather sensor loggers:
- Relabeled time variable as TimeUS accross logs so that it is within ArduPilot convention.
CASS custom parameters:
- Added a wind vane offset parameter (USR_WV_OFFSET).
CASSv1.6.2-Copter-4.0.7
Released by the Center for Autonomous Sensing and Sampling (CASS) of the University of Oklahoma
Head of Project:
Phillip B. Chilson
Main developer:
Antonio R. Segales
Acknowledgement:
Tyler Bell
Joshua Martin
==== Release notes ====
The following list shows code changes since the code release on 6-Aug-2020 (CASSv1.6.1-Copter-3.6.12)
Release Candidate: CASSv1.6.2-Copter-4.0.7
Obs. 1: The entire CASS custom code was migrated from Copter-3.6 to the Copter-4.0 code stack. Some modifications were made to the code to comply with the new code "conventions" in the new ArduPilot autopilot code, however, the core functions, parameters, and settings remain the same.
Obs. 2: From now on, the precision landing and lidar are assumed to be installed on the CopterSonde.
Obs. 3: The CubeOrange is fully compatible and supported. However, the CubeBlack must undergo bench-testings.
Changes in the Copter-4.0.7 that directly affects CASS custom code:
- Implementation of a Dynamic Notch Filter
- The filter targets and removes motor noise and harmonics.
- IMU estimations will become smoother.
- Wind estimation is expected to be less wobbly.
- Dynamic modelling will be more accurate.
- Real-time motor RPM readings will be available in the near future.
- The current ESCs has the supported telemetry protocol (D-Shot Bidirectional).
iMet sensor code library:
- Expanded the number of coefficients from 3 to 4.
- Modified the Steinhart-Hart Equation to support 4 coefficients.
- The use of only 3 coefficients is still valid. Just set the 3rd coeff to zero.
- Fix bug where iMet sensor was not reporting bad health.
Wind vane mode algorithm:
- Removed unused first order wind vane algorithm.
- Reduced the enable/disable threshold to 4m (ascending) and 6m (descending).
- This is because the new CS3Ds are going to carry lidars for accurate height measurements close to the surface.
CASS custom parameters:
- Removed unused first order wind vane parameter.
CASSv1.6.1-Copter-3.6.12
Released by the Center for Autonomous Sensing and Sampling (CASS) of the University of Oklahoma
Head of Project:
Phillip B. Chilson
Main developer:
Antonio R. Segales
Acknowledgement:
Gustavo Azevedo
Joshua Martin
==== Release notes ====
The following list shows code changes since the pre-release on 19-Jun-2020 (CASSv1.6.0-Copter-3.6.12)
Release Candidate: CASSv1.6.1-Copter-3.6.12
Wind vane mode algorithm:
- Create different trigger conditions for the ascent and the descent
- When coming in for landing, disable wind vane mode when close to the ground (less than 10m).
- Keep the heading fixed to the lastest wind direction estimate.
Battery Management for Vertical Profiling:
- Calculate the energy consumed in Watt-hour.
- Compute the temporal integration of the wind speed (works as a memory).
- Estimate the energy needed to descend per meter height (a function of wind speed).
- Estimate the total energy used (percentage).
- Always land with the desired reserve (parameter VPBATT_RES).
- Issue a warning once when the battery altitude range is over 85%.
- It will still warn, even if the function is disabled
- Trigger RTL when max battery altitude range is reached.
Auto Vertical Profile function:
- Auto-generate vertical waypoint mission at the flick of a switch.
- After acquiring the home position, the drone creates a vertical waypoint over the home position.
- The max altitude is set by the parameter AUTOVP_ALT.
- Easy to access and modify it through the Mission Planner parameter list.
- No need to manually create a mission on Mission Planner.
- After auto-generating the mission, it can be verified on Mission Planner.
Simulator:
- Fixed bug in the imet resistance model that was setting the temperature to zero (credits Joshua J. Martin).
CASSv1.6.0-Copter-3.6.12
Released by the Center for Autonomous Sensing and Sampling (CASS) of the University of Oklahoma
Head of Project:
Phillip B. Chilson
Main developer:
Antonio R. Segales
Acknowledgement:
Gustavo Azevedo
Tyler Bell
Jessica Blunt
Joshua Martin
==== Release notes ====
Current Autopilot board: Pixhawk CubeBlack
Current ArduPilot code: ArduCopter 3.6.12
The following list shows code changes since 11-May-2020 (CASSv1.6.0rc1-Copter-3.6.12)
THIS IS AN OFFICIAL RELEASE
Wind vane mode algorithm:
- Added a parameter to enable/disable the auto RTL function (WVANE_RTL_ON).
- Reworded the warning messages displayed on the screen.
- Rearranged the order of conditions that triggers the auto RTL function (>wvane_tolerance && wvane_on==true).
- Replaced and implemented a reduced delay 2nd order Butterworth digital filter which is 1 sample faster than the original.
- Reduced the sampling freq to 10Hz to produce a digital filter with more accurate zeros and poles, also due to the cutoff freq being very low compared to the sample freq.
- Changed default wvane cutoff frequency to 0.06Hz.
- Increased Wvane lower operating wind speed threshold to 1m/s (was 0.6m/s before)
- Conditions to send the Wvane outputs to the autopilot changed:
- Copter within waypoint range is no longer required.
- Besides total speed, added lateral speed (Y-axis) which must be close to zero to enable.
- Added a loop with variable frequency WVANE_FS that can be defined by the user.
- By varying the sampling and cutoff frequency, a sweet spot between output delay and smoothness can be found.
- Update wvane wind speed equation and default parameters
Imet and HYT271 sensor libraries:
- Improved ADC readings to prevent spikes in the measurements.
- Adjusted the sampling rate to match with the logging rate.
- Fixed checksum bug.
- Improved signal SNR by decreasing the ADC conversion rate closer to the logging rate.
ArduPilot simulator customization:
- Added the field behind the RIL building location for mission planning.
- Added a wind shear chirp model to the simulator (Wind Shearp).
- Reduced turbulence gain in the simulator.
- Removed the 1st order filter of the wind profile in the simulator.
CASSv1.6.0rc1-Copter-3.6.12
Released by the Center for Autonomous Sensing and Sampling (CASS) of the University of Oklahoma
Head of Project:
Phillip B. Chilson
Main developer:
Antonio R. Segales
Acknowledgement:
Gustavo Azevedo
Jessica Blunt
Joshua Martin
==== Release notes ====
Current Autopilot board: Pixhawk CubeBlack
Current ArduPilot code: ArduCopter 3.6.12
The following list shows code changes since 16-Oct-2019 (CASSv1.5.1-Copter-3.6.11)
THIS IS A RELEASE CANDIDATE
Revamp of the wind vane algorithm:
- Butterworth LP filters were implemented to smooth out the thrust vector elements.
- Despite the additional delay in estimating wind direction, the system stability is greatly improved (based on simulation results).
- (Optional) Another 1st order filter was implemented as a complementary system for fine adjustments when roll is close to zero.
- Elements of the thrust vector (given by the rot. matrix) are stored in the SD card for post-processing.
- A wind vane operating envelope (tolerance) was defined (such as max/min wind speed, min altitude, min roll and others).
- RTL function triggers automatically when the CS goes out of the operating envelope.
Imet and HYT271 sensor libraries:
- Adjusted the sampling rates to match the logging rate (the mismatch was causing data dropouts).
- The usage of semaphores was fixed, this bug was taking ~10% CPU resources.
- New richer list of variables logged into the SD card (Data processing team was informed about it).
- Sensors report healthiness and other useful raw data (such as thermistor's resistance).
- Scoop fan on/off state is logged.
CASS custom MAVLink messages changes:
- Replaced HYT271 temperature data with IMET resistance data in the Mavlink stream.
Battery Voltage/Current monitor sensor full potential unleashed:
- The sensor was calibrated for voltage and current.
- The measurements of power consumption are very accurate thanks to the hall effect type sensor.
- The autopilot can automatically trigger RTL based on the remaining energy in the battery (IMO much safer than monitoring just the voltage).
Advanced Compass calibration:
- It consists of throttling up the motors while the Pixhawk takes measurements of the current through the power system and magnetic field from the compass.
- It measures the interference on the compass produced by the high current through the power system.
- The Pixhawk learns the curve and continually corrects the offset in flight.
- Expectation: heading is going to be more accurate, particularly in high winds.
Addition of custom adjustable parameters:
- Wind vane parameters can be easily accessed and modified through any compatible GCS software.
- The goal is to avoid hard-coding values in the autopilot's algorithm (increase flexibility and parameter tuning).
Custom informative pop-up messages and warnings are displayed on the GCS and Pilot's radio:
- Pilot and GCS operator can now confirm and monitor events through the telemetry, examples:
- Scoop Fan activation.
- Maximum wind speed warnings and automatic switch to RTL.
- High wind speed warning cleared.
- (ToDo) Strong wind shear warning.
- (ToDo) Informative messages regarding temperature and humidity sensors.
Access to telemetry data through the Pilot's radio:
- A Yaapu protocol converter was installed on the CS.
- The JumperTX T16 was configured to receive and display crucial telemetry data for the pilot.
Pilot's radio configuration (JumperTX T16):
- Switches and buttons were mapped to CS commands.
- The switch/button functions layout was thoroughly planned for the sake of user-friendliness and to reduce human errors.
ArduPilot simulator customization:
- Incorporated a more complex wind model (based on a polynomial function).
- Wind model is enabled by setting the parameter SIM_WIND_DIR to zero.
- Incorporated a simple temperature and humidity vertical structure model.
- Incorporated a simple resistance model of the IMET thermistors for post-processing.
- (Work in progress) Addition of a 3D simulation environment (Gazebo) for better visualization and code debugging.
CASSv1.5.1-Copter-3.6.11
Released by Center for Autonomous Sensing and Sampling
University of Oklahoma
Head of Project:
Phillip B. Chilson
Main developer:
Antonio R. Segales
==== Release notes ====
- Updated some of the imet coefficients
- Fixed the sampling rate of the HYT-271 sensors (was not matching with the logging rate)
CASSv1.5.0-Copter-3.6.11
Released by Center for Autonomous Sensing and Sampling
University of Oklahoma
Head of Project:
Phillip B. Chilson
Main developer:
Antonio R. Segales
==== Release notes ====
Major:
- Updated to the latest Copter3.6.11 released by ArduPilot.
- Added 8 user_sensor params. The copter stores the payload tag/label in the logs for easy tracking and post-processing.
- Wind vane mode improvement:
- It pauses the computation while the aircraft is rotating on yaw.
- Fixed a bug in the tilt angle calculation.
- It stops the algorithm and holds yaw heading in the final stage of the landing.
- Turn into the wind now works on RTL mode.
Minor:
- Fixed a bug that crashed the temperature profile simulation.
- Added more temperature sensor coefficients. Although this is going to be removed in a later release.